DSV Alvin Calliope metadata file
Mon 15/Nov/2010 02:35:56
Current time zone: GMT Standard Time
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Altitude ( DS_ALT)
Altitude in meters obtained from the DataSonics altimeter. A value of 300 indicates "out of range".
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NMEA Altitude ( PWHALT)
FORMAT:
$PWALT,,* may contain any number of digits before and
after the decimal point. It should be a positive number. A "+" sign is
allowed but not required.
is a character specifying the sensor datum
K indicates that sensor value is measured from keel
T indicates that sensor value is measured from transducer
is the two digit hexadecimal checksum
EXAMPLE:
$PWHALT,506.963,K*7C
$PWHALT,507.807,K*7E
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Ambient temperature (NMEA) (PWHTMPA)
Format: $PWHTMPA,xx,xxx,C,A*hh
This string is generated from sound velocity probe temperature data for broadcast to other applications (DVLNAV).
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Ambient temperature broadcast (ATMP)
Format: $PWHTMPA,xxx.xx,C,A*hh
Data obtained from sound velocity probe (degrees C) and broadcast on 10503 along with other temperature data collected with science sensor probes.
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Configuration NMEA (PWHCFG)
CONFIGURATION DATA STRING
FORMAT: $PWHCFG,,,,,, ,,,,,,,,,
,,* Vehicle dive number
Latitude of LBL XY coordinate system ORIGIN in
decimal degrees, +=North, -=South from dvlnav ini file.
Longitude of LBL XY coordinate system ORIGIN in
decimal degrees, +=East, -=West from dvlnav ini file.
UTM X of LBL coordinate system ORIGIN.
UTM Y of LBL coordinate system ORIGIN.
UTM zone from dvlnav ini file.
Expected site depth from dvlnav ini file.
Local magnetic variation from dvlnav (from dvlnav
ini file or NOAA tables,
user selectable in dvlnav)
Salinity from dvlnav (from dvlnav ini file
or CTD, user selectable in dvlnav)
Water temperature from Doppler temp sensor, Centigrade.
Sound velocity (from dvlnav ini file, SV probe, or CTD, user
selectable in dvlnav)
Time zone from from dvlnav ini file. Hours, +=East, -=West
Dvlnav program verison number.
Integer. Status of host (Athena on Alvin).
0 if DVLNAV IS receiving data from this device.
1 if DVLNAV IS NOT receiving data from this device.
Integer. Status of octans.
0 if DVLNAV IS receiving data from this device and
the Octans status is good.
Nonzero if DVLNAV IS NOT receiving data from this
device OR the Octans status is bad.
Integer. Status of doppler.
0 if DVLNAV IS receiving data from this device.
1 if DVLNAV IS NOT receiving data from this device.
Integer. Status of dvlnav's own logging to disk.
0 if logging is ON and working.
1 if logging is OFF and not working.
Two digit hexadecimal checksum
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NMEA Depth1 output ( PWHDEP1)
FORMAT:
$PWHDEP,,,* may contain any number of digits before and
after the decimal point. It should be a positive number. A "+" sign is
allowed but not required.
should an integer, normally 1 or 2, indicating
that the sensor reading is from depth sensor 1 or 2.
is a character specifying the sensor datum
K indicates that sensor value is measured from keel
T indicates that sensor value is measured from transducer
is the two digit hexadecimal checksum
EXAMPLE:
$PWHDEP,4168.242,1,K*68
$PWHDEP,4168.368,1,K*61
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NMEA Depth2 output ( PWHDEP2)
FORMAT:
$PWHDEP,,,* may contain any number of digits before and
after the decimal point. It should be a positive number. A "+" sign is
allowed but not required.
should an integer, normally 1 or 2, indicating
that the sensor reading is from depth sensor 1 or 2.
is a character specifying the sensor datum
K indicates that sensor value is measured from keel
T indicates that sensor value is measured from transducer
is the two digit hexadecimal checksum
EXAMPLE:
$PWHDEP,4168.242,2,K*68
$PWHDEP,4168.368,2,K*61
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Doppler NMEA ( PWHDOP)
DOPPLER NAVIGATION STRING
FORMAT: $PWHDOP,,,,,,,,
,,,,,
,,,,,
,,,,,,,
*
The floating point fields may contain any number of digits before and
after the decimal point. X and Y will be prefixed with a + or - to indicate sign
Vehicle Doppler X coordinate in local XY frame, meters.
This is the position of the Vehicle frame origin, not necessarily the
doppler instrument, in world coordinates.
Vehicle Doppler Y coordinate in local XY frame, meters.
This is the position of the Vehicle frame origin, not necessarily the
doppler instrument, in world coordinates.
Vehicle depth using presently selected depth sensor, meters.
Latitude in decimal degrees, +=North, -=South
Longitude in decimal degrees, +=East, -=West
Doppler altitude, meters. Zero if no lock.
Vertical velocity, filtered, in METERS/MINUTE. +=UP, -=Down
Time at surface in GMT HH:MM:SS
Time at bottom in GMT HH:MM:SS
Method for this Doppler fix:
NONE (bad) = 0
BOTTOM TRACK = 1
WATER TRACK = 2
Number of Bottom Track beams locked on bottom.
Need minimum of three for good bt fix.
Number of Water Track beams locked on water column.
Need minimum of three for good wt fix.
Time since this fix.
Time since doppler track was reset to LBL, seconds.
Doppler World X velocity in local XY frame, meters per sec.
Doppler World Y velocity in local XY frame, meters per sec.
Doppler World Z velocity in local XY frame, meters per sec.
Note that the above velocities are the velocities of the Doppler
instrument in world coordiantes, not the vehicle origin velocity.
Vehicle course over ground, degrees TRUE.
Only valid if have 3 or 4 bottom track beams.
Vehicle speed over ground, METERS/MINUTE.
Only valid if have 3 or 4 bottom track beams.
Vehicle course over water, degrees TRUE.
Only valid if have 3 or 4 water track beams.
Vehicle speed over water, METERS/MINUTE.
Only valid if have 3 or 4 water track beams.
Water column course over ground, degrees TRUE.
This is the water current direction w/respect to earth.
Only valid if have 3 or 4 water track beams and 3 or 4 bottom
track beams.
Water column speed over water, METERS/MINUTE.
This is the water current speed w/respect to earth.
Only valid if have 3 or 4 water track beams and 3 or 4 bottom
track beams.
Temp sensor in DVL, Centigrade
Speed of sound employed in dvl fix computation
Two digit hexadecimal checksum
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Doppler heading & attitude ( PWHMAGD)
FORMAT:
$PWHMAGD,, , , , , * vehicle heading in degrees TRUE, computed from
the doppler's flux-gate compass, corrected for local variation.
vehicle pitch in degrees.
vehicle roll in degrees.
local variation in decimal degrees.
negative indicates WEST local variation
positive indicates EAST local variation
true heading = mag heading + variation
time in seconds since this heading reading was
received from the sensor.
decimal status flag
0 indicates that this string data is GOOD
1 indicates that this string data is BAD
two digit hexadecimal checksum
EXAMPLE:
$PWHMAGD,+185.000,+0.000,+0.000,-0.134,0.100,0*74
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LBL NMEA ( PWHLBX)
LBL NAVIGATION STRING FROM DVLNAV
FORMAT:
$PWHLBX, , , , , , , , , , , , , , , , , , , , , , , , *
The floating point fields may contain any number of digits before and
after the decimal point. X and Y will be prefixed with a + or - to indicate sign.
Vehicle LBL X coordinate in local XY frame, meters, float.
Vehicle LBL Y coordinate in local XY frame, meters, float.
Vehicle depth using presently selected depth sensor, meters, float.
Latitude in decimal degrees, +=North, -=South
Longitude in decimal degrees, +=East, -=West
User-selected altitude, meters, float.
Vertical velocity, filtered, in METERS/MINUTE. +=UP, -=Down
Time at surface in GMT HH:MM:SS
Time at bottom in GMT HH:MM:SS
Status of this LBL fix, integer:
RANGE_UNKNOWN = 0 LBL solution method, integer:
LBL_XPNDR2 = 0 two transponder solution
Alvin normally uses LBL_XPNDR2
LBL_AUTO = 1 automatic 2-4 transponder solution
Label (A,B,C,D) of the first transponder of the
baseline when in two-transponder LBL_XPNDR2 mode.
Label (A,B,C,D) of the second transponder of the
baseline when in two-transponder LBL_XPNDR2 mode.
Baseline side of this fix, integer:
CW = 0
CCW = 1
ON_BASELINE = 2
SIDE_UNKNOWN = 3
Speed of sound used for this fix, meters/second, float.
Range to transponder A, meters, float.
Range to transponder B, meters, float.
Range to transponder C, meters, float.
Range to transponder D, meters, float.
Range status to transponder A, integer.
Range status to transponder B, integer.
Range status to transponder C, integer.
Range status to transponder D, integer.
Range status codes are as follows:
RANGE_UNKNOWN = 0
RANGE_GOOD = 1
RANGE_OLD = 2
RANGE_TOO_LONG = 3
RANGE_TOO_SHORT = 4
RANGE_FAILED_MEDIAN = 5
RANGE_HIGH_ERROR = 6
Time in seconds since this fix was computed
Normally under 0.01 second.
Two digit hexadecimal checksum
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LBL travel times (PWHLBL)
Raw transponder travel times from the acoustic receiver
FORMAT:
$PWHLBL,,,,* is the round-trip travel time between the vehicle LBL
transducer and the transponder designated "A"; a positive integer in units of hundreds of microseconds (1 sec = 10000). It can contain any number of digits and should not contain a decimal point.
same format as , but for transponder B.
same format as , but for transponder C.
same format as , but for transponder D.
is the two digit hexadecimal checksum
EXAMPLE:
$PWHLBL,2055546,1397837,1911208,2996497*04
$PWHLBL,2058602,1401780,1914264,2994357*07
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NMEA magnetometer data ( PWHMAG)
FORMAT: $PWHMAG,:,,,,,0* YYYY/MM/DD HH:MM:SS.SSS
Magnetic component in gauss.
Magnetic component in gauss.
Magnetic component in gauss.
Magnetic component in gauss.
Magnitude gauss.
,0 Verbatim dummy data
Two digit hexadecimal checksum
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Octans NMEA ( PWHGYRO)
OCTANS HEADING AND ATTITUDE STRING
FORMAT:
$PWHGYRO,,,,,* is the vehicle heading in degrees TRUE.
is the vehicle pitch in degrees.
is the vehicle roll in degrees.
All angles are reported to a precision of 0.001 degree, with
a leading + or - character.
is the time in seconds since this heading reading was
received from the octans. Normally under 0.1 second.
If the octans is turned off, for example, the time will
increase.
is an 8-digit hexadecimal octans status word.
A value of ALL ZEROS indicates normal operation.
Nonzero values indicate various errors.
When the octans is first powered up, the status word
is non-zero for 2-5 minutes while the unit finds north.
The bit map of this status word is:
Bit 0 Heading not valid
Bit 1 Roll not valid
Bit 2 Pitch not valid
Bit 3 Position (Heave, surge and sway)
not valid
Bit 4 Position calculation starting
Bit 5 Initialization
Bit 6 Reserved
Bit 7 Reserved
Bit 8 FOG X1 Error
Bit 9 FOG X2 Error
Bit 10 FOG X3 Error
Bit 11 Optical source error
Bit 12 Accelerometer X1 error
Bit 13 Accelerometer X2 error
Bit 14 Accelerometer X3 error
Bit 15 Analog input A or B error
Bit 16 Serial input A error
Bit 17 Serial input B error
Bit 18 Serial input C error
Bit 19 FIFO Full
Bit 20 Serial output A full
Bit 21 Serial output B full
Bit 22 Serial output C full
Bit 23 Manual log used
Bit 24 Manual latitude used
Two digit hexadecimal checksum
EXAMPLE:
$PWHGYRO,+1.546,-0.038,-0.008,0.030,00000000*4D
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Science temperature data ( Sci_Temp)
This data is provided by independent Data Collectors that provide the interface to the Hi_Temp, Lo_Temp and ICL_Temp sensors. The output from these collectors is in a consistant NMEA format as follows:
$PWHTMP,xxx.xx,C,[H,L,I1,I2]*cs
H = Hi temp
L = Lo temp
I1 = ICL probe #1
I2 = ICL probe #2
cs = check sum
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Sound velocity (NMEA) ( PWHSOS)
Format: $PWHSOS,xxxx.xx*cs
Sound velocity in m/sec from sound velocity probe (direct measurement) formatted for broadcast to other applications (DVLNAV).
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Sound velocity probe ( SVP)
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Target NMEA ( PWHTRB)
TARGET RANGE AND BEARING
The range/bearing function will normally be used with the the vehicle
selected as the ORIGIN, and a numbered Target selected as the destination.
Targets 0-998 are loaded from the DVLNAV config file, or dropped
interactively during a dive.
Target 0 is the current vehicle position.
Target 999 is the current position of the DVLNAV map cursor.
Note that at present the following fields of this string are computed
and transmitted properly:
1) Origin target number
2) Destination target number
3) Range
4) Bearing
5) Slant range
6) Vertical range
7) Origin X, Y, Depth
8) Destination X, Y, Depth
9) Origin label
10) Destination Label
At present the cross-track error, velocities, and time fields (e.g. time
to go) are not computed and are reported as zero.
FORMAT:
$PWHTRB,,,,
,,,,,
,,,,
,,,
,,,
,,
,,*